This repository contains a variety of motion planning algorithms tailored for wheeled mobile robots. Hands-on robotics projects are developed using HKBOT, while simulations are conducted in Gazebo and Nvidia Isaac environments.
| Naming Prefix | Description |
|---|---|
| HKIsaac__ | Simulations in Nvidia Isaac |
| HKBOT__ | Hands-on Mobile Robot |
| HKROS__ | Simulations in Gazebo |
AMR are robots designed to perform tasks and navigate in their environment without direct human intervention. They use a combination of sensors, cameras, software algorithms, and sometimes artificial intelligence (AI) to perceive their surroundings, make decisions, and move with purpose towards a goal.
| Abbr | Robot Type | Robot Description |
|---|---|---|
| AMR | Autonomous Mobile Robots | Autonomous Mapping and Navigation |
| AMMR | Autonomous Mobile Manipulation Robots | AMR + Grasping and Manipulation of Objects |
▸ HK Bot is an autonomous mobile robot which I have engineered with a deep passion for Robotics & AI. It is a sophisticated piece of technology that stands at the intersection of autonomous mobility and manipulative dexterity.
This robot is designed for all applications related to Autonomous Mobile Robots (AMRs) and Autonomous Mobile Manipulation Robots (AMMRs), leveraging state-of-the-art sensor technologies. With its advanced capabilities, the HK Bot can navigate, interact with the environment. The integration of advanced sensors and manipulators allows it to perform complex tasks autonomously.
The Nvidia Jetson Nano 4GB stands at the core of the HK-BOT, serving as its brain. This compact yet powerful board is designed to bring artificial intelligence and machine learning to the edge, enabling the robot to process complex tasks in real-time.
YDLidar provides the HK-BOT with essential spatial awareness, allowing it to navigate and map its environment accurately. Its time-of-flight ranging with a 30m range ensures efficient obstacle avoidance and path planning.
The ORBBECR Astra Pro Plus enhances the robot's perception by capturing detailed 3D imagery. This depth camera's structured light technology is fundamental for complex tasks requiring object recognition and interaction within an 8m range.
DS3235 Coreless High Torque Servo Motors power the robotic arm, providing precise and robust movement. Their substantial torque enables the HK-BOT to manipulate objects with deftness and accuracy.
The IMX219-160 8Mega Pixels Camera grants high-resolution vision to the HK-BOT, vital for tasks that demand fine visual details, such as inspection or surveillance.
The 520 Hall Gear Encoder Motors, reminiscent of Boston Dynamics' precision, offer the HK-BOT formidable torque and speed control. This component is key for the robot's stable and responsive movement.
Mecanum Wheels provide the HK-BOT with omnidirectional movement, enabling it to traverse complex terrains and tight spaces with ease, which enhances its adaptability and maneuverability in various environments.
The Pendulum Suspension system contributes to the HK-BOT's stability and agility. This sophisticated mechanism allows for smooth navigation over uneven surfaces, ensuring the robot maintains balance and traction.
